INDUSTRIAL ROBOTICS (semester course)

- Introduction to industrial robotics (1 hour)
Basic concepts on the mechanics and control of robotic manipulators.

- Reference systems and transformations (9 hours)
Description of joints positions and orientations. The rotational matrix. Translational and rotational operators. Minimum-order orientation notations: Fixed angles, Euler angles, angle-axis representation, Euler parameters. Computational considerations.

- Direct kinematics (4 hours)
Classification and description of robotic joints. Description of the links position and orientation: the modified Denavit-Hartenberg notation. The homogeneous transformation matrix. Joint space, operational space and manipulator workspace.

- Inverse kinematics (6 hours)
The solvability of the inverse kinematics problem. Geometric and algebraic solutions.

- Differential kinematics and static forces (12 hours)
Rigid bodies linear and angular velocities. The Jacobian matrix and its properties. Manipulator static forces: the forward recursive algorithm and the Jacobian approach.

- Dynamics (4 hours)
The inertia tensor matrix. Bodies center of mass. Inverse dynamics: the Newton-Euler backward recursive formulation. Direct dynamics: solution by means of simulation programs.

- Trajectory planning (12 hours)
Joint space trajectories. Point-to-point and multipoint trajectory generation using cubic polynomials. Point-to-point and multipoint trajectory generation using linear-quadratic functions. Operational space trajectories. Kinematics singularities.